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- package org.usfirst.frc.team193.robot;
- import edu.wpi.first.wpilibj.Talon;
- import edu.wpi.first.wpilibj.IterativeRobot;
- import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
- import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
- import edu.wpi.first.wpilibj.Joystick;
- /**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the IterativeRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
- * directory.
- */
- public class Robot extends IterativeRobot {
- final String defaultAuto = "Default";
- final String customAuto = "My Auto";
- String autoSelected;
- SendableChooser<String> chooser = new SendableChooser<>();
- //New motor object for left driver
- Talon leftDrive = new Talon(0);
- //New motor object for right motor
- Talon rightDrive = new Talon(1);
- //New joystick object for driving
- Joystick leftJoy = new Joystick(1);
- /**
- * This function is run when the robot is first started up and should be
- * used for any initialization code.
- */
- @Override
- public void robotInit() {
- chooser.addDefault("Default Auto", defaultAuto);
- chooser.addObject("My Auto", customAuto);
- SmartDashboard.putData("Auto choices", chooser);
- }
- /**
- * This autonomous (along with the chooser code above) shows how to select
- * between different autonomous modes using the dashboard. The sendable
- * chooser code works with the Java SmartDashboard. If you prefer the
- * LabVIEW Dashboard, remove all of the chooser code and uncomment the
- * getString line to get the auto name from the text box below the Gyro
- *
- * You can add additional auto modes by adding additional comparisons to the
- * switch structure below with additional strings. If using the
- * SendableChooser make sure to add them to the chooser code above as well.
- */
- @Override
- public void autonomousInit() {
- autoSelected = chooser.getSelected();
- // autoSelected = SmartDashboard.getString("Auto Selector",
- // defaultAuto);
- System.out.println("Auto selected: " + autoSelected);
- leftDrive.set(0.3);
- }
- /**
- * This function is called periodically during autonomous
- */
- @Override
- public void autonomousPeriodic() {
- switch (autoSelected) {
- case customAuto:
- // Put custom auto code here
- break;
- case defaultAuto:
- default:
- // Put default auto code here
- break;
- }
- }
- /**
- * This function is called periodically during operator control
- */
- @Override
- public void teleopPeriodic() {
- //Getting joystick in port 1 values
- double value;
- value = leftJoy.getX();
- value = leftJoy.getY();
- value = leftJoy.getZ();
- value = leftJoy.getThrottle();
- value = leftJoy.getTwist();
- }
- /**
- * This function is called periodically during test mode
- */
- @Override
- public void testPeriodic() {
- }
- }
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